OHT anti-collision strategy simulation method based on radar perception

Abstract

The invention discloses an OHT anti-collision strategy simulation method based on radar perception, and relates to the technical field of automatic logistics system security, and the method comprises the steps of virtual environment construction, OHT system simulation, production process simulation, data driving and analysis, user interface design, anti-collision strategy design and data recording. Building a virtual environment: creating a high-precision model of the factory environment by using 3D modeling software; oHT system simulation: establishing a kinematic model of OHT for simulating the motion trail of the kinematic model; production process simulation: simulating the scheduling process of production tasks, including the priority and sequence of the tasks allocated to the OHT; according to the method, the high-precision radar sensing model and the anti-collision strategy are integrated, the potential collision risk of the OHT system is accurately predicted and effectively avoided, the operation scene of the OHT is reproduced in the virtual environment, and the anti-collision strategy is evaluated and optimized, so that the production safety and the logistics efficiency are improved, and the cost and the risk of physical testing are reduced.

Description

Technical Field

[0001] The present invention relates to the field of automated logistics system safety technology, and in particular to an OHT anti-collision strategy simulation method based on radar perception. Background Art

[0002] With the continuous development of the semiconductor industry, manufacturers are faced with the challenge of improving production efficiency and reducing costs. The Overhead Handling System (OHT) is an important automatic handling system in semiconductor manufacturing plants. It improves the overall production process by improving material transportation efficiency, reducing labor costs and reducing pollution risks.

[0003] As the complexity of semiconductor manufacturing processes increases, the intensive use of OHT systems has led to an increase in collision risks, and efficient and reliable collision avoidance strategies are urgently needed. Traditional methods rely on physical testing, which is costly and difficult to fully cover all working conditions. Therefore, the development of radar-based simulation methods is crucial for evaluating and optimizing collision avoidance strategies in advance. Summary of the invention

[0004] The purpose of the present invention is to solve the shortcomings of the prior art and to propose an OHT collision avoidance strategy simulation method based on radar perception.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] A simulation method of OHT collision avoidance strategy based on radar perception, including construction of virtual environment, OHT system simulation, production process simulation, data drive and analysis, design of user interface, design of collision avoidance strategy, and data recording;

[0007] Build a virtual environment: Use 3D modeling software to create a high-precision model of the factory environment;

[0008] OHT system simulation: Establish the kinematic model of OHT to simulate its motion trajectory;

[0009] Production process simulation: simulate the scheduling process of production tasks, including the priority and order of tasks assigned to OHT;

[0010] Data driven and analytical:

[0011] Sub-step 1: Collect various data generated during the simulation process;

[0012] Sub-step 2: Analyze the collected data using data analysis tools and techniques to evaluate the performance of the OHT system;

[0013] Designing the User Interface:

[0014] Step 1: Design an easy-to-use graphical user interface (GUI) that enables users to easily configure and control the simulation environment;

[0015] Step 2: Monitoring panel: Provide a monitoring panel to display the real-time OHT status and simulation progress;

[0016] Design of collision avoidance strategy:

[0017] Step 1: Speed ​​preset. The track speed needs to be preset before the overhead crane starts to travel. For curved tracks that need to be decelerated in advance, they need to be decelerated in advance according to the preset parameters to simulate the overhead crane to prevent it from running off the track during travel.

[0018] Step 2: Dynamic speed adjustment, based on distance and speed, dynamically adjust the speed of the current overhead crane according to the distance and speed of the overhead crane in front, that is, regional adjustment, adjust the speed according to different areas;

[0019] Data logging: During each simulation run, key data is recorded and logging tools are used to record this data.

[0020] Preferably, the control logic simulated by the OHT system includes speed control, path planning and obstacle avoidance strategy;

[0021] The OHT system simulation can simulate the simultaneous operation of multiple OHTs, including task allocation and collaborative path planning.

[0022] Preferably, the production process simulation also includes simulating the entire production process, including the entire process from raw material intake, processing, assembly to finished product delivery.

[0023] Preferably, various data generated during the simulation process including the position, speed and load of the OHT are collected, and the collected data are analyzed using Python's Pandas library;

[0024] Data-driven analysis also includes data visualization, which uses charts and reports to present analysis results and help understand the performance of the OHT system.

[0025] Preferably, radar sensing technology is used to detect the distance to the overhead crane in front, and the maximum range of detection and sensing is determined according to its own speed;

[0026] The area adjustment is to divide the front area into three different color areas: red area, yellow area and blue area, and the range of the area depends on the speed of the car;

[0027] When the speed of the sky car is greater than 3.5m / s, the range of the blue zone is 7 meters, the yellow zone is 5 meters, and the red zone is 1.2 meters;

[0028] When the speed of the sky car is between 1.5m / s and 3.5m / s, the blue zone is 5 meters, the yellow zone is 3 meters, and the red zone is 1 meter;

[0029] When the speed of the sky car is less than 1.5m / s, the blue zone is 3 meters, the yellow zone is 1.5 meters, and the red zone is 0.8 meters.

[0030] Preferably, during the process of simulating the travel of the overhead crane, the OHT system will continuously read the information in Red is to check whether there are other overhead cranes located in the above-mentioned area on the travel path of the overhead crane;

[0031] When other overhead cranes are found in the blue zone, the speed of the overhead crane will be reduced to 0.9m / s;

[0032] If other overhead cranes are found in the yellow zone, the speed of the overhead crane will be reduced to 0.48m / s;

[0033] When other overhead cranes are found in the red zone, the speed of the overhead crane will be reduced to a near-stop state;

[0034] Update the crane status data to Redis.

[0035] Preferably, the overhead crane accelerates or decelerates using a smooth acceleration / deceleration curve to avoid sudden acceleration / deceleration movements and improve the stability of the overhead crane.

[0036] Preferably, the data records include the position, speed, obstacle avoidance instructions, and collision events of the overhead crane, and the log recording tool Log4j is used to record these data; at the same time, the recorded data is stored in a centralized database for later analysis.

[0037] An electronic device comprises a processor, a memory and a computer program stored in the memory, wherein the computer program is configured to execute a radar-aware OHT collision avoidance strategy simulation method when the processor is running the computer program.

[0038] A computer-readable storage medium stores a computer program, wherein the computer program is used to execute the OHT collision avoidance strategy simulation method based on radar perception.

[0039] The beneficial effects of the present invention are:

[0040] The present invention proposes an OHT collision avoidance strategy simulation method based on radar perception, which is specifically aimed at the OHT system in semiconductor factories. By integrating a high-precision radar perception model and an advanced collision avoidance strategy algorithm, the method can accurately predict and effectively avoid the potential collision risks of the OHT system. The method reproduces the operation scenario of OHT in a virtual environment, evaluates and optimizes the collision avoidance strategy, thereby improving production safety and logistics efficiency, and reducing the cost and risk of physical testing. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 The present invention is a flow chart of an anti-collision strategy of an OHT anti-collision strategy simulation method based on radar perception. DETAILED DESCRIPTION

[0042] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0043] As attached Figure 1 , a simulation method of OHT collision avoidance strategy based on radar perception, including building virtual environment, OHT system simulation, production process simulation, data driving and analysis, designing user interface, designing collision avoidance strategy, and data recording;

[0044] 1. Build a virtual environment: Use 3D modeling software to create a high-precision model of the factory environment;

[0045] 2. OHT system simulation: Establish the kinematic model of OHT to simulate its motion trajectory;

[0046] The control logic simulated by the OHT system includes speed control, path planning, and obstacle avoidance strategies;

[0047] The OHT system simulation can simulate the simultaneous operation of multiple overhead cranes, including task allocation and collaborative path planning;

[0048] It is worth mentioning that the asynchronous processing mechanism uses an event-driven architecture and an event loop-based library to support high-concurrency processing;

[0049] For concurrent processing of multiple overhead cranes, a thread pool manager is used to schedule concurrent tasks, such as Java's Executor Service.

[0050] In the above technical solution, by reproducing the operating scenario of OHT in a virtual environment, a variety of potential collision risk scenarios can be simulated, so as to identify and avoid these risks in advance. This method helps to reduce the probability of collision in the actual production environment, thereby improving the safety of the entire production system.

[0051] 3. Production process simulation: simulate the scheduling process of production tasks, including the priority and order of tasks assigned to OHT;

[0052] Production process simulation includes simulating the entire production process, including the entire process from raw material intake, processing, assembly to finished product delivery;

[0053] In the above technical solution, by conducting simulation testing in a virtual environment, the need for physical prototypes can be reduced, thereby saving the costs and risks associated with physical testing. Physical testing is often accompanied by the risk of damage or destruction, while simulation testing can avoid these risks.

[0054] 4. Data driven and analysis:

[0055] Sub-step 1: Collect various data generated during the simulation process;

[0056] Collect various data generated during the simulation, including the position, speed, and load of the OHT, and use Python's Pandas library to analyze the collected data;

[0057] Sub-step 2: Analyze the collected data using data analysis tools and techniques to evaluate the performance of the OHT system;

[0058] Data-driven analysis also includes data visualization, which uses charts and reports to present analysis results and help understand the performance of the OHT system.

[0059] It is worth mentioning that the data structure: uses a hash table to store and retrieve vehicle information to achieve O(1) time complexity;

[0060] The caching mechanism uses the in-memory database Redis to cache frequently accessed data and reduce dependence on persistent storage.

[0061] 5. Design the user interface:

[0062] Sub-step 1: Design an easy-to-use graphical user interface (GUI) that enables users to easily configure and control the simulation environment;

[0063] Sub-step 2: Monitoring panel: Provide a monitoring panel to display the real-time OHT status and simulation progress;

[0064] In the above technical solution, through the intuitive user interface and real-time feedback mechanism, operators can better understand the performance of the system and the effectiveness of the anti-collision strategy. This transparency and operability help to improve the confidence of operators and enable them to manage the OHT system more efficiently. Secondly, operators can easily adjust the parameters of the anti-collision strategy through a user-friendly interface to adapt to different production environments and needs. This flexibility enables the system to better adapt to changing working conditions.

[0065] 6. Design of anti-collision strategy:

[0066] Sub-step 1: Speed ​​preset. The track speed needs to be preset before the overhead crane starts to travel. For curved tracks that need to be decelerated in advance, the deceleration needs to be performed in advance according to the preset parameters to simulate the overhead crane to prevent it from running off the track during travel.

[0067] Sub-step 2: Dynamic speed adjustment, based on distance and speed adjustment, dynamically adjust the speed of the current overhead crane according to the distance and speed of the overhead crane in front, that is, regional adjustment, adjust the speed according to different regions;

[0068] The radar sensing technology is used to detect the distance of the overhead crane in front, and the maximum range of detection and perception is determined according to its own speed; the area in front is divided into three different color areas: including red area, yellow area and blue area. The range of the area depends on the speed of the car:

[0069] When the speed of the sky car is greater than 3.5m / s, the range of the blue zone is 7 meters, the yellow zone is 5 meters, and the red zone is 1.2 meters;

[0070] When the speed of the sky car is between 1.5m / s and 3.5m / s, the blue zone is 5 meters, the yellow zone is 3 meters, and the red zone is 1 meter;

[0071] When the speed of the sky car is less than 1.5m / s, the blue zone is 3 meters, the yellow zone is 1.5 meters, and the red zone is 0.8 meters.

[0072] During the simulation of the overhead crane driving, the OHT system will continuously read the information in Red is to check whether there are other overhead cranes in the above area on the overhead crane driving path;

[0073] When other overhead cranes are found in the blue zone, the speed of the overhead crane will be reduced to 0.9m / s;

[0074] If other overhead cranes are found in the yellow zone, the speed of the overhead crane will be reduced to 0.48m / s;

[0075] When other overhead cranes are found in the red zone, the speed of the overhead crane will be reduced to a near-stop state;

[0076] The overhead crane accelerates or decelerates using a smooth acceleration / deceleration curve to avoid sudden acceleration / deceleration movements and improve the stability of the overhead crane.

[0077] In the above technical solution, by evaluating and optimizing the overhead crane's anti-collision strategy, unnecessary deceleration or stagnation caused by obstacle avoidance can be reduced, thereby improving the logistics efficiency of the OHT system. More efficient logistics means faster product turnover time and higher productivity.

[0078] 7. Data logging: Record key data during each simulation run and use logging tools to record this data;

[0079] The data records include the position, speed, obstacle avoidance instructions, and collision events of the overhead crane. The logging tool Log4j is used to record these data. At the same time, the recorded data is stored in a centralized database for later analysis.

[0080] In summary, this radar-sensing-based OHT collision avoidance strategy simulation method not only improves the safety of OHT systems in semiconductor factories, but also improves logistics efficiency, reduces costs and risks, and promotes technological innovation, which helps to improve the competitiveness and sustainability of the entire production system.

[0081] An electronic device comprises a processor, a memory and a computer program stored in the memory, wherein the computer program is configured to execute a radar-aware OHT collision avoidance strategy simulation method when the processor is running the computer program.

[0082] A computer-readable storage medium stores a computer program, wherein the computer program is used to execute the OHT collision avoidance strategy simulation method based on radar perception.

[0083] The specific usage and function of this embodiment are as follows:

[0084] The anti-collision strategy simulation of the present invention specifically includes the following steps:

[0085] S1. Initialization settings and area division: Divide the front area into three different color areas: including red area, yellow area and blue area:

[0086] When the speed of the sky car is greater than 3.5m / s, the range of the blue zone is 7 meters, the yellow zone is 5 meters, and the red zone is 1.2 meters;

[0087] When the speed of the sky car is between 1.5m / s and 3.5m / s, the blue zone is 5 meters, the yellow zone is 3 meters, and the red zone is 1 meter;

[0088] When the speed of the sky car is less than 1.5m / s, the blue zone is 3 meters, the yellow zone is 1.5 meters, and the red zone is 0.8 meters;

[0089] S2, the OHT system will continue to read the information in Red is;

[0090] S3, checking whether there are other overhead cranes in the above-mentioned area on the overhead crane driving path;

[0091] S4. When other overhead cranes are found in the blue zone, the speed of the overhead crane will be reduced to 0.9 m / s;

[0092] If other overhead cranes are found in the yellow zone, the speed of the overhead crane will be reduced to 0.48m / s;

[0093] When other overhead cranes are found in the red zone, the speed of the overhead crane will be reduced to a near-stop state;

[0094] S5. Update the crane status to Red is;

[0095] S6. Asynchronously process different overhead cranes, and simultaneously record and store the data.

[0096] The above method can effectively simulate the overhead crane collision avoidance strategy in actual radar technology, ensuring that the simulation results are as close to the actual situation as possible.

[0097] For the above structure and process, please refer to Figure 1 .

[0098] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A method for simulating OHT collision avoidance strategy based on radar perception, characterized in that: Including building virtual environment, OHT system simulation, production process simulation, data drive and analysis, designing user interface, designing anti-collision strategy, data recording; Build a virtual environment: Use 3D modeling software to create a high-precision model of the factory environment; OHT system simulation: Establish the kinematic model of OHT to simulate its motion trajectory; Production process simulation: simulate the scheduling process of production tasks, including the priority and order of tasks assigned to OHT; Data driven and analytical: Sub-step 1: Collect various data generated during the simulation process; Sub-step 2: Analyze the collected data using data analysis tools and techniques to evaluate the performance of the OHT system; Designing the User Interface: Step 1: Design an easy-to-use graphical user interface (GUI) that enables users to easily configure and control the simulation environment; Step 2: Monitoring panel: Provide a monitoring panel to display the real-time OHT status and simulation progress; Design of collision avoidance strategy: Step 1: Speed ​​preset. The track speed needs to be preset before the overhead crane starts to travel. For curved tracks that need to be decelerated in advance, they need to be decelerated in advance according to the preset parameters to simulate the overhead crane to prevent it from running off the track during travel. Step 2: Dynamic speed adjustment, based on distance and speed, dynamically adjust the speed of the current overhead crane according to the distance and speed of the overhead crane in front, that is, regional adjustment, adjust the speed according to different areas; Data logging: During each simulation run, key data is recorded and logging tools are used to record this data.

2. The method for simulating an OHT collision avoidance strategy based on radar perception according to claim 1, characterized in that: The control logic simulated by the OHT system includes speed control, path planning, and obstacle avoidance strategies; The OHT system simulation can simulate the simultaneous operation of multiple OHTs, including task allocation and collaborative path planning.

3. The method for simulating an OHT collision avoidance strategy based on radar perception according to claim 1, characterized in that: Production process simulation also includes simulating the entire production process, including the entire process from raw materials entering, processing, assembly to finished product delivery.

4. The method for simulating an OHT collision avoidance strategy based on radar perception according to claim 1, characterized in that: Collect various data generated during the simulation, including the position, speed, and load of the OHT, and use Python's Pandas library to analyze the collected data; Data-driven analysis also includes data visualization, which uses charts and reports to present analysis results and help understand the performance of the OHT system.

5. The method for simulating an OHT collision avoidance strategy based on radar perception according to claim 1, characterized in that: Use radar sensing technology to detect the distance to the overhead crane in front, and determine the maximum range of detection and perception based on its own speed; The area adjustment is to divide the area in front of the overhead crane into three different color areas: red area, yellow area and blue area, and the range of the area depends on the speed of the crane; When the speed of the sky car is greater than 3.5 m / s, the range of the blue zone is 7 meters, the yellow zone is 5 meters, and the red zone is 1.2 meters; When the speed of the sky car is between 1.5m / s and 3.5m / s, the blue zone is 5 meters, the yellow zone is 3 meters, and the red zone is 1 meter; When the speed of the overhead traveling vehicle is less than 1.5 m / s, the blue zone is 3 meters, the yellow zone is 1.5 meters, and the red zone is 0.8 meters.

6. The method for simulating an OHT collision avoidance strategy based on radar perception according to claim 5, characterized in that: During the simulation of the overhead crane driving, the OHT system will continuously read the information in Redis to check whether there are other overhead cranes in the above area on the overhead crane driving path; When other overhead cranes are found in the blue zone, the speed of the overhead crane will be reduced to 0.9m / s; If other overhead cranes are found in the yellow zone, the speed of the overhead crane will be reduced to 0.48m / s; When other overhead cranes are found in the red zone, the speed of the overhead crane will be reduced to a near-stop state; Update the crane status data to Redis.

7. The method for simulating an OHT collision avoidance strategy based on radar perception according to claim 1, characterized in that: The overhead crane accelerates or decelerates using a smooth acceleration / deceleration curve to avoid sudden acceleration / deceleration movements and improve the stability of the overhead crane.

8. The method for simulating an OHT collision avoidance strategy based on radar perception according to claim 1, characterized in that: The data records include the position, speed, obstacle avoidance instructions, and collision events of the overhead crane. The logging tool Log4j is used to record these data. At the same time, the recorded data is stored in a centralized database for later analysis.

9. An electronic device, characterized in that: The invention comprises a processor, a memory and a computer program stored in the memory, wherein the computer program is configured to execute the OHT collision avoidance strategy simulation method based on radar perception according to any one of claims 1 to 8 when the processor is running the computer program.

10. A computer-readable storage medium, characterized in that: A computer program is stored thereon, and the computer program is used to execute the OHT collision avoidance strategy simulation method based on radar perception as described in any one of claims 1 to 8.

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